/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef TACTILEARRAYUTIL_HPP_
#define TACTILEARRAYUTIL_HPP_

#if !defined(SWIG)
#include <rw/sensor/Contact3D.hpp>

#include <vector>
#endif 
namespace rw { namespace kinematics {
    class State;
}}    // namespace rw::kinematics

namespace rw { namespace sensor {
    class TactileArrayModel;

    /**
     * @brief Utillity class for general computations on a tactile array
     */
    class TactileArrayUtil
    {
      public:
        /**
         * @brief Estimate the contacts on the tactile array sensor.
         * @param arraySensor [in] the array sensor that describe the tactile array
         * @param state [in] the current state of the system
         * @param minContactForce [in] A threshold value that determines when a force is a contact
         * force and not just noise.
         * @return All estimated contacts
         */
        static std::vector< rw::sensor::Contact3D >
        estimateContacts (const rw::sensor::TactileArrayModel& arraySensor,
                          const rw::kinematics::State& state, double minContactForce);
    };

}}     // namespace rw::sensor
#endif /* TACTILEARRAYUTIL_HPP_ */
